Context: The enactivist tradition, out of which neurophenomenology arose, rejects various internalisms – including the representationalist and information-processing metaphors – but remains wedded to one further internalism: the claim that the structure of perceptual experience is directly, constitutively linked only to internal, brain-based dynamics. Problem: I aim to reject this internalism and defend an alternative analysis. Method: The paper presents a direct-realist, externalist, sensorimotor account of perceptual experience. It uses the concept of counterfactual meaningful action to defend this view against various objections. Results: This account of experience matches certain first-person features of experience better than an internalist account could. It is fully tractable as “normal science.” Implications: The neuroscientific conception of brain function should change from that of internal representation or modelling to that of enabling meaningful, embodied action in ways that constitutively involve the world. Neurophenomenology should aim to match the structure of first-person experience with the structure of meaningful agent-world interactions, not with that of brain dynamics. Constructivist content: The sensorimotor approach shows us what external objects are, such that we may enact them, and what experience is, such that it may present us with those enacted objects.

Upshot: I offer responses to the commentaries on my target article in five short sections. The first section, about the plurality of lived worlds, concerns issues of quite general interest to readers of this journal. The second section presents some reasons for rejecting “enabling” as well as “constitutive” representational approaches to understanding the mind. In the remaining three sections, I clarify aspects of sensorimotor direct realism relating to the self, qualia, counterfactuals, and the notion of “mastery.”

Seth extends predictive processing with counterfactuals: Encoded probabilities of what would occur given a repertoire of possible (but unexecuted) actions. He thereby provides a neat mathematical formulation of the sensorimotor account of perceptual presence, i.e., of the fact that we perceive a whole object while being limited to seeing it from a perspective. Synesthetic concurrents are explained in terms of impoverished counterfactuals. I argue that this explanation misses its target, because it only accounts for a lack of objecthood. Enactive theory is better suited to explain concurrents’ lack of subjectivity veridicality. The world itself shapes experience only during veridical perception.

Normal perception involves experiencing objects within perceptual scenes as real, as existing in the world. This property of “perceptual presence” has motivated “sensorimotor theories” which understand perception to involve the mastery of sensorimotor contingencies. However, the mechanistic basis of sensorimotor contingencies and their mastery has remained unclear. Sensorimotor theory also struggles to explain instances of perception, such as synesthesia, that appear to lack perceptual presence and for which relevant sensorimotor contingencies are difficult to identify. On alternative “predictive processing” theories, perceptual content emerges from probabilistic inference on the external causes of sensory signals, however, this view has addressed neither the problem of perceptual presence nor synesthesia. Here, I describe a theory of predictive perception of sensorimotor contingencies which (1) accounts for perceptual presence in normal perception, as well as its absence in synesthesia, and (2) operationalizes the notion of sensorimotor contingencies and their mastery. The core idea is that generative models underlying perception incorporate explicitly counterfactual elements related to how sensory inputs would change on the basis of a broad repertoire of possible actions, even if those actions are not performed. These “counterfactually-rich” generative models encode sensorimotor contingencies related to repertoires of sensorimotor dependencies, with counterfactual richness determining the degree of perceptual presence associated with a stimulus. While the generative models underlying normal perception are typically counterfactually rich (reflecting a large repertoire of possible sensorimotor dependencies), those underlying synesthetic concurrents are hypothesized to be counterfactually poor. In addition to accounting for the phenomenology of synesthesia, the theory naturally accommodates phenomenological differences between a range of experiential states including dreaming, hallucination, and the like. It may also lead to a new view of the (in)determinacy of normal perception.